Vessel-towed multiple sensor systems and related methods

ABSTRACT

An embodiment can include a vessel-towed system that includes a first towing/communication interface system, e.g., a first tow cable with a fiber optic system, and spaced apart buoys for supporting the first tow cable. A first mobile structure including a first control system and first type of emitter, e.g., an attraction system, is connected to the first tow cable. A second mobile structure is provided that can include an underwater towed emitter such as an audio emulation system. The first and second emitters can be configured emit a first and second plurality of emissions for inducing a receiving entity response. The second mobile structure is coupled with the first mobile structure with a second tow cable that comprises another fiber optic cable. An automated response or manual control systems can be provided on the towing vessel and the first mobile structure adapted to operate the first and second emitters.

CROSS-REFERENCE TO RELATED APPLICATION

This patent application claims priority to U.S. Provisional PatentApplication Ser. No. 62/134,729, filed Mar. 18, 2015, the disclosure ofwhich is expressly incorporated herein by reference.

STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT

The invention described herein was made in the performance of officialduties by employees of the Department of the Navy and may bemanufactured, used and licensed by or for the United States Governmentfor any governmental purpose without payment of any royalties thereon.This invention (Navy Case 200,113) is assigned to the United StatesGovernment and is available for licensing for commercial purposes.Licensing and technical inquiries may be directed to the TechnologyTransfer Office, Naval Surface Warfare Center Crane, email:Cran_CTO@navy.mil.

BACKGROUND AND SUMMARY OF THE INVENTION

Aspects disclosed herein relate to a multiple towed attraction,emulation, and response alteration system that can include multi-modeemitter systems, multiple control systems, maneuver, propulsion, highand/or low speed support structures, as well as multiple towing andcommunication systems.

Some types of attraction, emulation, and/or response alteration (AERA)systems include a remotely operated towed system that can employ anunderwater attraction body which can be towed behind a vessel on acombination tow and signal fiber optic tow cable (“FOTC”). For example,a towed AERA systems can only be used for short durations, and aretypically unrecoverable, a “one-and-done” typeattraction/emulation/response alteration. Furthermore, the current towedentity of interest AERA system can only be used for a narrow range ofactivities projected by receiving or transmitting entity or entities.Additionally, maintaining and preserving a fired, launched, or deployedtowed AERA body is intensive due to its susceptibility to environmentalconditions such as wind, rain, and salty oceanic conditions.

An apparatus in accordance to an embodiment of the present disclosureprovides a towed AERA system with improved capabilities beyond those ofexisting launched, fired, or deployed, including a towed, anti-threatAERA countermeasure systems. An active towed AERA system can combinecurrent AERA system's components such as a remotely operated input andoutput interface, a local input and out interface, a power supply, awinch system, and a FOTC with a towed AERA body. A towed AERA body canprovide the ability for a host vessel to transmit radio frequencies tothe towed AERA body that can emulate behavior of another entity such asa whale or the towing vessel's noise, such as, for example, propellernoise, engine noise, and vessel's frequencies, which can be moreattractive to a receiving or transmitting entity. Additionally, a towedAERA body can utilize a signal cutout switch in combination with onboardcontrol and sensor systems to enable it to act independent of a towingvessel's remotely operated input and output interface. Furthermore, atowed body, e.g., an attraction, emulation, or response alteration body,can have the ability to have different types of modules swapped in andout of it so that the towed AERA body can emulate different types ofentity of interest characteristics such as a whale or aquatic entitysound, vessel frequencies, engine noise, propeller noise, or the likewhich can also be determined based on a type of vessel the towed bodyfollows. For example, a receiving entity can be a whale that the towingvessel seeks to encourage the whale to alter its path or response to theoutput of the towed AERA body.

According to an illustrative embodiment of the present disclosure, anattraction, emulation, and response alteration system can include aremote operated input and output interface, and a local input and outputinterface. Both the remote operated input and output interface, andlocal input and output interface have the ability to actively control atowed AERA body. The local input and output interface can be attached toa multiplexer, which can give a towed AERA body the potential to add aplurality of connections, which can allow for additional towed AERAbodies to be attached to the towed AERA body. Additionally, amultiplexer can be a way path to select AERA settings depending on thethreat that a vessel encounters, such as, for example, the AERA settingcan draw a threat toward a low value unit, instead of a high value unit.

According to a further illustrative embodiment of the presentdisclosure, a FOTC can have a plurality of buoyancy nodes spaced from awinch system to a towed AERA body such as the first mobile structure. Anexemplary buoyancy node acts as a flotation device to the FOTC to helpaddress stress caused by drag from weight of the FOTC. A buoyancy nodecan be for example, a can buoy, conical buoy, spherical buoy, pillarbuoy, or the like. An embodiment of the buoys can include a shape ordesign that reduces drag. The buoy system can also include a maneuveringsystem which can adjust orientation of the buoys with respect to atowing structure as well as towed mobile structures such as the firstand second mobile structures.

In an exemplary embodiment a towed attraction body can be quicklydeployed and activated. In embodiments a towed AERA body can have anincreased effectiveness by being able to withstand long durations inrough environmental conditions allowing vessels to continuously have anactive towed AERA body in the water.

In certain embodiments a towed system can convert from a stand-aloneattraction system with an active electronic attraction (EA) payload to amore sophisticated electronic emulation or response alteration platformwith the ability to send and received payload information via a FOTC,such as, for example a towed AERA body can receive, amplify, and return,e.g., radio frequency signals from a transmitting entity that canpresent a higher profile or attractive sensed presence to attractattention from the receiving or transmitting entity.

Additional features and advantages of the present invention will becomeapparent to those skilled in the art upon consideration of the followingdetailed description of the illustrative embodiment exemplifying thebest mode of carrying out the invention as presently perceived.

BRIEF DESCRIPTION OF THE DRAWINGS

The detailed description of the drawings particularly refers to theaccompanying figures in which:

FIG. 1 shows a simplified system level diagram of one embodiment of theinvention or disclosure herein;

FIG. 2 shows another simplified system level diagram of an additionalembodiment as disclosed herein;

FIG. 3 shows another simplified system level diagram of an additionalembodiment as disclosed herein;

FIG. 4 shows a general system level overview of a portion of anembodiment as disclosed herein;

FIG. 5 shows a general system overview of an additional embodiment asdisclosed herein;

FIG. 6 shows a side view of one section of an exemplary embodiment ofthe invention;

FIG. 7 shows a front view of one section of an exemplary embodiment ofthe invention;

FIG. 8 shows a top view of one section of an exemplary embodiment of theinvention; and

FIG. 9 shows a method of manufacturing and use in accordance with anexemplary embodiment of the invention.

FIG. 10 shows another simplified system level diagram of an additionalembodiment as disclosed herein;

FIG. 11 shows a buoy connected to the ocean floor and an underwaterfiber-optic cable line, including a radar detection system;

FIG. 12 shows a buoy connected to the ocean floor and an underwaterfiber-optic cable line, including a sonar detection system;

FIG. 13 shows a water vehicle connected to a sled via a fiber-opticcable, wherein the sled contains sonar and/or radar detection systems;

FIG. 14 shows an exemplary method of operation associated with anembodiment including a radar system;

FIG. 15 shows an exemplary method of operation associated with anembodiment including a sonar system;

FIG. 16 shows a cross sectional view of a FOTC initially designed for afirst application that is used in a modification to add a secondapplication or capability in accordance with an embodiment of theinvention;

FIG. 17 shows another embodiment of the invention that can include awater borne autonomous renewable energy powered vessel with a multiplesensor and communication towed systems including a towed afloat radiofrequency aerial object sensing and communication system as well as anunderwater towed sonar system collectively configured to communicatewith a satellite communication system;

FIG. 18 shows an external view of a simplified view of an exemplarytowed underwater system used in accordance with one embodiment of theinvention;

FIG. 19 shows an exemplary simplified functional block diagram forsystems within an exemplary a water borne autonomous renewable energypowered vessel used as a tow system for a towed surface and underwatersystem;

FIG. 20 shows an exemplary external view an exemplary water borneautonomous renewable energy powered vessel with functional simplifiedtowed surface system and underwater towed system is shown;

FIG. 21 shows an exemplary view of a patrol pattern with regard to windpatterns in a world map along trade winds;

FIG. 22 shows an exemplary processing or control sequence at a higherlevel in accordance with one embodiment of the invention using theautonomous renewable energy powered vessel;

FIG. 22a shows an exemplary processing or control sequence at a higherlevel which is executed by control systems of an exemplary fixed sitesystem;

FIG. 23 shows an exemplary process for controlling the vessel and itssystems in response to detection of a biological entity;

FIG. 24 shows an exemplary process for controlling the vessel and itssystems in response to a crash sound detection;

FIG. 24a shows an exemplary process for controlling sonar, control, andmaneuvering systems to determine a point of origin of the crash sound;

FIG. 25 shows an exemplary process for controlling the vessel, sonar,control, and other systems in response to a received distress call;

FIG. 26 shows an exemplary process for responding to detection of aflight recorder and controlling the vessel, sonar, control, and otherrelevant systems;

FIG. 27 shows an exemplary block diagram of a sonar system that isconfigured to be adjustably moved up and down a system communication andsonar cable from a fixed floating buoy;

FIG. 28 shows a simplified side view of movement of the sonar systemfrom FIG. 27 with respect to different sections of a body water havingdifferent sound carrying characteristics; and

FIG. 29 shows an exemplary sailing path of the vessel with automatedmaneuvers with wind direction.

DETAILED DESCRIPTION OF THE DRAWINGS

The embodiments of the invention described herein are not intended to beexhaustive or to limit the invention to precise forms disclosed. Rather,the embodiments selected for description have been chosen to enable oneskilled in the art to practice the invention.

Generally, one embodiment in accordance with the invention can include avessel-towed system that includes a first towing/communication interfacesystem that couples with a first mobile structure, e.g., an above waterstructure including a first controls system and first type of emitter,e.g., an active radio frequency (“RF”) attraction system that coupleswith a second towing/communication system that couples with a secondmobile structure that can include an underwater towed emitter such as anaudio emulation system where the first and second emitters can be usedto modify a response from a receiving entity. In some embodiments, asecond emitter could include an optional FOTC extension allowing anothertowed body to also be simultaneously deployed, but as a stand-alonetorpedo decoy with or without operating a radar or jamming system on themobile structure. Embodiments can further include automated response andmanual control systems on a towing mobile structure as well as amaneuvering and propulsion system on at least the first mobilestructure. An embodiment can also include structures that enable highspeed traversal of, for example, water (e.g. a lifting structure orhydroplanes). An embodiment can also include maneuvering systems such asone or more axis controls system on both the first and second mobilestructures. An embodiment can also include propulsive systems whichpermit independent maneuvering and propulsion of the first mobilestructure where such propulsive systems can include an automated windpowered system. Embodiments of the invention can include various AERAsystems on the first and second mobile structures which are capable ofautonomous operation as well as controlled operation from a towingvehicle or structure, e.g. a ship.

Referring initially to FIG. 1, a block diagram of an embodiment.Embodiments can include an information center 8. An information center 8can be located on a vessel (not shown). In certain embodiments aninformation center 8 can include a remotely operated input and outputinterface 10, and an active EA/emulation/response alteration remotecontrol 12. In embodiments a remotely operated input and outputinterface 10 can transmit information from an activeEA/emulation/response alteration remote control 12. In certainembodiments a remotely operated input and output interface can transmitinformation to a towed AERA body 26 (hereinafter towed AMRA body). Insome embodiments, an information center 8 can be connected to thevessel's equipment room 14 which can include a local input and outputinterface 16, which can be attached to the vessel's electrical power 18,or can have its own power supply. In some embodiments, a local input andoutput interface 16 can be coupled to a FOTC 24 via a rotationalelectrical coupler in a FOTC winch system 22. In certain embodiments theFOTC winch system 22 can be, for example, a hydraulic winch system, anelectric winch system, or the like. The FOTC winch system 22 can includea reel for retracting or extending the FOTC 24. The FOTC 24, which canbe attached to the towed AMRA body 26. To prevent binding and tanglingof the FOTC, and to allow free rotation between the winch system 22,FOTC 24, and towed AERA body 26 a rotation device (not shown) can beattached to the towed AERA body, and the winch system such as, forexample, a slip ring, or the like.

Referring to FIG. 2, a block diagram of an additional embodiment isshown. A remotely operated input and output interface 40 is providedthat can be connected to systems in an equipment room 42. The equipmentroom 42 can include a local input and output interface 44 that can beconnected to an electrical power system 50. In certain embodiments theelectrical power system 50 can be a vessel's power, a battery unit, orthe like. The local input and output interface 44 can be connected to asignal cutout switch 46. In certain embodiments a signal cutout switch46 can electrically isolate or separate a towed AERA body (hereinaftertowed attraction body) 56 from the local input and output interface 16allowing the towed AERA body 56 to be a stand-alone radio frequencysystem without needing to receive or send signals to and from an outsidesource such as an active EA/emulation/response alteration control (notshown) that feeds control signals to the towed attraction body 56. Asignal cutoff switch 46 can be connected to control lines that arecoupled to a FOTC 54 that is extended or retracted through a winchsystem 48. In certain embodiments the winch system 48 can be, forexample, a hydraulic winch system, an electric winch system, or thelike. The FOTC 54 is attached to the towed attraction body 56. A slipring (not shown) can be incorporated into the winch system to enableinterface of electrical signals between the FOTC 54 and the local inputand output interface 44 across the rotational coupling of the winchsystem.

Referring to FIG. 3, a simplified block diagram of an additionalembodiment is shown that can include a remotely operated input andoutput interface 70 that can be connected to an equipment room 72. Anequipment room can include a local input and output interface 74, whichcan be attached to a vessel's electrical power system 80. Additionally,the equipment room 72 can include a multiplexer 76, which is attached tothe local input and output interface 74 and the winch system 78. Themultiplexer 76 can enable interfacing between a towed attraction liftingbody with first control system and first emitter (hereinafter firsttowed system) 86 and the towed second emitter 90. For example, themultiplexer 76 can facilitate an interface between both first towedsystem 86 and EA control system 70 from the equipment local input andoutput interface 74 or the remote input and output interface 70 for thetowed body 86 and the towed emitter 90 to add operability and controlemitters first and second emitters as well as other sensors (not shown)that can be mounted on the towed structures 86, 90. A winch system 78can be attached to a vessel's (not shown) electrical power 82 or canhave its own power source through a battery source (not shown). Thewinch system 78 can be attached to a FOTC 84, which can be attached to atowed AERA body, e.g., first towed system 86. To prevent binding andtangling and to allow free rotation between the winch system 78, FOTC84, and towed AERA body, e.g., first towed system 86 a rotation device(not shown) for aiding in operation, extending and retracting the FOTCattached to the towed AERA body, e.g., first towed system, and the winchsystem such as, for example, a slip ring, or the like. In certainembodiments a towed AERA body, e.g., first towed system 86 can have anFOTC extension 88, which can connect a towed anti-threat body 90. Incertain embodiments an anti-rotation device (not shown) can be attachedto a towed AERA body 86, and can connect a FOTC extension 88, and towedanti-threat body 90.

Referring to FIG. 4, shown is a general overview of an exemplaryembodiment. In embodiments a control center (not shown) and an equipmentroom (not shown) can be located on a vessel 100. A FOTC 118 can beattached to the vessel 100 via a winch system (not shown). A pluralityof buoyancy nodes 96 can be attached and spaced along the length of theFOTC 118 to distribute the weight evenly across the FOTC from the vessel100 to the towed AERA body 110, and to help prevent excess drag to thesystem while the vessel tows the towed AERA body.

Referring to FIG. 5, shown is a general overview of an additionalembodiment. In embodiments a control center (not shown) and an equipmentroom (not shown) can be located on a vessel 100. A FOTC 118 can beattached to the vessel 100 via a winch system (not shown). A pluralityof buoyancy nodes 96 can be attached and spaced along the length of theFOTC 118 to distribute the weight evenly across the FOTC from the vessel100 to the towed AERA body 110. A towed AERA body can have a FOTCextension 102 affixed to its aft end to support a towed anti-threat body104. Referring to FIG. 5, a towed body 104 can be selected from thegroup including a sonar system, a radar system, an imaging sonar system,a decoy system, an existing ocean floor fiber optic cable, a floatingbuoy, an object detector, an object attracting system, and an objectdecoy system. One example of a torpedo decoy system includes a towedelectro-acoustic decoy device (e.g., TB-14A) and a shipboard signalgenerator. The decoy emits signals to draw a torpedo away from itsintended target including propulsion noises. Variants can include a FOTCand a motor powering a winch e.g., a double drum winch. A diagnosticprogram can be initiated locally or from the remote control station, andtests all electronic functions. Additional variants can incorporate atowed array sensor to detect underwater objects such as submarines andincoming torpedoes. Variants can also include additional active sonardecoys by receiving, amplifying, and returning “pings” from the torpedo,presenting a larger false target to the torpedo. One example of anobject attracting system can include a variant that records marinemammal sounds and then selects known patterns that attract a mammal bymirroring a sonar ping, recording a sonar ping, amplifying a sonar ping,or modifying a sonar ping at a pattern known to attract the animaltoward the signal. One example of an object deterring system can includea variant that records marine mammal sounds and then selects knownpatterns that deter a mammal by mirroring a sonar ping, recording asonar ping, amplifying a sonar ping, or modifying a sonar ping at apattern known to deter the animal away from the signal.

Referring to FIGS. 6, 7 and 8, a towed AERA body is shown generally at110. Embodiments comprise a top section 122 and a bottom section 124. Anelectronics housing 112 protrudes from and can be attached to a topsection 122. In embodiments an electronics housing 112 can encapsulateelectronics that support a plurality of modules that can emulatedifferent type of radio frequencies, engine sounds, propeller noises, orthe like from the vessels that it is towed behind. In addition, a topsection 112 can be a variety of shapes such as, for example, an ellipse,an airfoil, a parabola, an ogive, any other streamline body, or thelike. A FOTC interface 114 can be attached to a top section 122 with thelength of the FOTC interface running parallel to the side of the topsection until it attaches to an electronics housing 112. A FOTCinterface 114 can support a rotation device (not shown) either housed onthe inside of the FOTC interface, or on the outside of the FOTCinterface, which can allow a FOTC 118 to rotate freely. In certainembodiments a rotation device (not shown) can be a slip ring or thelike. In embodiments a second FOTC interface 116 can be attached to theaft end of an electronics housing 112, and can run parallel to the sideof a top section 122 to the aft end of the top section. A second FOTCinterface can have a rotation device (not shown) housed and attachedeither inside or outside of the second FOTC interface.

A first 126, second 128, third 134, and fourth (not shown) strut can beattached to and protrude from a bottom section 124. However, a strutneed not be limited to four, there can be one, two, three, four, five,or the like struts. A first 130, second 132, third 136, and fourth foil(not shown) can be attached to a first 126, second 128, third 134, andfourth (not shown) strut. Additionally, a foil need not be limited tofour, there can be such as, for example, one, two, three, four, or thelike foils.

With reference to FIG. 9, an illustrative method 200 of using an activetowed AERA system of the present disclosure includes providing aremotely operated input and output interface operable to communicatewith a local input and output interface and a first and second towedAERA bodies each comprising autonomous control systems and a first andsecond emitter system at step 202 operable to communicate with a localinput and output interface at step 204. The local input and outputinterface can be coupled to either the vessel's electrical power or someother type of external power source at step 206. Step 208 includesproviding a winch system and a first and second tow cable system, thefirst tow cable system comprising a fiber optic cable and a plurality ofspaced apart support buoys coupled to the first tow cable for supportingthe first cable, and coupling the winch system to electrical power atstep 210. At step 212, providing a winch system. Step 214 includesproviding the towed AERA bodies. At step 216, couple winch system to thefirst and second towed AERA bodies respectively via the first and secondtow cable system and FOTC.

Referring to FIG. 10, shown is a block diagram of an additionalembodiment. In embodiments a remotely operated input and outputinterface 70A can be connected to an equipment room 72. An equipmentroom can include a local input and output interface 74, which can beattached to a vessel's electrical power 80. Additionally, an equipmentroom 72 can include a multiplexer 76, which is attached to the localinput and output interface 74, and attached to the winch system 78. Themultiplexer can permit interfacing between the existing towed body 86and the towed emitter 90. For example, the multiplexer can utilize bothtowed body 86 and EA system from the equipment local input and outputinterface 74 or the remote input and output interface 70A for the towedbody 86 and the towed emitter 90 to add operability. A winch system 78can be attached to a vessel's electrical power 82 or can have its ownpower source through a battery source (not shown). A winch system 78 canbe attached to a FOTC 84, which can be attached to a towed AERA body 86.To prevent binding and tangling and to allow free rotation between thewinch system 78, FOTC 84, and towed AERA body 86 a rotation device (notshown) can be attached to the towed AERA body, and the winch system suchas, for example, a slip ring, or the like. In certain embodiments atowed AERA body 86 can have an FOTC extension 88, which can connect atowed anti-threat body 90. In certain embodiments an anti-rotationdevice (not shown) can be attached to a towed AERA body 86, and canconnect a FOTC extension 88, and towed anti-threat body 90.

Note that an exemplary method embodiment can add a step of providing acutoff switch and/or providing a multiplexer into one section of anexemplary control system such as described above. An exemplary towedAERA body can be formed with a top section and a bottom section where anexemplary top section can be adapted so that an electrical housing canbe attached to it. Additionally, an exemplary top section can have afirst and second towing cable with a fiber optic extension adapted toattach to the top section and the electrical housing. An exemplarybottom section can have a plurality of struts protruding perpendicularfrom the bottom section. An exemplary plurality of struts can have aplurality of foils perpendicular protruding from the struts.

An anti-threat system can also be disposed on the first and secondexemplary towed AERA bodies. Such an anti-threat system can operate toattract attention or alter behavior of a threat to a towing structure.

Referring to FIG. 11, another alternate embodiment of the disclosurethat can include a buoy 205 on the ocean surface 200, which is tetheredto the ocean floor 210 via a cable 215 and an anchor on the ocean floor225. The buoy contains a power generation system 235, a control andcommunication system 240, and a radar detection system 245. A cable inthe form of a fiber optic cable 220 connects an existing ocean floorfiber optic cable 230 to the control communication system 240 on boardthe buoy 205. The exemplary cable 220 includes a plurality of signaltransfer lines (not shown as they are internal to the cable 220)comprising a first and second plurality of signal transfer lines in thecable 220, wherein said first plurality of signal transfer lines couplewith the cable 230 connected to a first plurality communication nodes(not shown) and said second plurality of signal transfer lines couple tocontrol sections of at least one control section with said buoy 205. Theexemplary radar detection system 245 transmits pulses radio ormicrowaves to determine the range, altitude, direction, or speed ofobjects above the ocean level or in the air. Examples of detectableobjects include airplanes, ships, rocks, airborne objects, missiles,etc.

Referring to FIG. 12, another alternate embodiment of the invention caninclude a buoy 205 on the ocean surface 200, which is tethered to theocean floor 210 via a cable 215 and an anchor on the ocean floor 225.The buoy contains a power generation system 235, a control communicationsystem 240, and a sonar sensor system 260 configured to transmit and/ordetect sonar or sounds in the ocean. A cable in the form of a fiberoptic cable 220 connects an existing ocean floor fiber optic cable 230to the control communication system 240 on board the buoy 205. There area plurality of signal transfer lines in the cable comprising a first andsecond plurality of signal transfer lines in the cable, wherein thefirst plurality couple a first plurality and a second plurality ofcommunication nodes and said second plurality of signal transfer linescouple to control sections of at least one control section with saidbuoy. The sonar source and transmission are configured to selectivelyoperate active or passive sonar technology using sound propagation todetect underwater objects. The frequencies emitted by active sonar canadditionally be used to deter underwater animals by emitting particularfrequencies. For example, by emitting mid-frequency active sonar, whalescan be deterred from an area.

Examples of detectable objects include animals, shipwrecks, planecrashes, torpedoes, and rocks. In one example, a system can be used todetect a flight data recorder from crashed aircraft as well as detectsound profiles associated with aircraft crashes which propagate impactsounds through ocean water. When such impacts are detected or a flightdata recorder “pings” are detected by the sonar 260, the control andcommunication system 240 can send a signal through the existing oceanfloor cable fiber optic cable 230 to a remote control section or center(not shown) to alert authorities of a crash and possibly a location ofthe flight data recorder.

Referring to FIG. 13, another embodiment of the invention can include awater vehicle 280 with a winch 285 that is used to wrap fiber opticcable 118. The fiber optic cable 118 can be of varying length and canattach to a sled 290. The sled 290 contains a control communicationsystem 240, a power generation system 235, and a radar or sonar system.A plurality of signal transfer lines in the cable 118 comprising a firstand second plurality of signal transfer lines in the cable 118, whereinthe first plurality couple a first plurality and a second plurality ofcommunication nodes and the second plurality of signal transfer linescouple to control sections of at least one control section with the sled290. The radar detection system 245 can use radars 250 as describedabove to detect objects above sea level whereas the sonar sensor system260 can use sonar to detect objects below the ocean surface.

Referring to FIG. 14, another embodiment of this disclosure can includea system for detecting objects above sea level using a detections systemthat can include a radar. The exemplary system can send electromagneticwaves or signals 250 from a radar transmitter 303. The radar wavesbounce off 250′ an above sea level detectable object in the path of thewave 255. The detectable object reflects a part of the wave's energy250′ back to the radar transmitter/receiver 303 and then communicateswith a control communication system/receiver 300 which may be located inthe same general location as the transmitter or may be found at anotherlocation. The control communication system/receiver sends informationthrough a fiber optic cable 220 connected to an existing fiber opticcable 230 on the ocean floor 210. This data can be further relayedthrough the fiber optic cable on sea floor to a receiver on land. Thisprovides a method of transferring data where satellites are inaccessibleor existing communication is weak or unavailable.

Referring to FIG. 15, another embodiment of invention can include asystem of detecting objects below sea level using sonar. The system cansend sonar waves 265 to detect a plurality of sound signatures e.g. animpact sound beneath the ocean surface or whales. The Control and comm.system 300 sends a signal to the sonar receiver/transmitter 333 to emitan original sound or ping 265 that is reflected off the detected object270 and a reflected wave 265′ is sent back to a sonarreceiver/transmitter 333. To increase effectiveness of sonar thereceiver will move up and down through various ocean layers. Thereceiver will have a slight negative buoyancy and be lifted throughlayers via control cable 353. The receiver can relay the informationthrough communication cable 350 or a fiber optic cable 220 connected toan existing fiber optic cable 230 on the ocean floor 210. Data can befurther relayed through the fiber optic cable on sea floor to a receiveron land. This provides a method of transferring data where satellitesare inaccessible or existing communication is weak or unavailable. Thereceiver can have a temperature, salinity, and buoyancy control system.

Referring to FIGS. 14 and 15, exemplary sonar or radar can be located oneither a floating buoy or pulled behind a water vehicle. The datareceiver may be located on board the buoy or pulled sled, or it may belocated remotely.

Referring to FIG. 16, another embodiment of the invention can includeutilization of an existing fiber optic tow cable coupled with anapparatus selected from the group consisting of a sonar system, a radarsystem, an imaging sonar system, an underwater towed sensor/emittersystem, a ship towed active radio frequency decoy sled, and a towedbody. The existing FOTC can include an outer sheave 350 which enclosesan inner sheave 355. Both sheaves enclose a lead shielding 360 thatsurrounds emitter/receiver A (E/R A) first though 9^(th) signal buses(1SB, 2SB, 3SB, 4SB, 5SB, 6SB, 7SB, 8SB, 9SB) cables300/305/310/315/320/325/330/340/345, and future use E/R B cables 295(10^(th) signal bus) and 355 (11^(th) signal bus). The E/R A and E/R Bcables are surrounded by an insulator 365/370 and a conductor 375. Thecables are also surrounded by a twisted strength member 335. The outersheave can be made of a hard material like PVC. The inner sheave can bemade of a clear hard material like plastic. The lead shielding canconsist of five layers alternatively wrapped. The insulators can be asolid material like PVC or fiberglass. The conductor can be a materialthat allows the flow of electrical current like copper or glass. Saidcables consist of a first group and a second group of cables. The firstgroup of cables are intended for established uses, including a torpedodecoy system. The second group of cables are reserved for future use andare able to be repurposed. Uses for the second cables suggested asembodiments of this invention include a sonar system, a radar system,and a ship towed active radio frequency decoy sled.

An embodiment of the invention includes manufacturing a set of aplurality of wires or transfer lines in a cable wherein the set includesa first and a second group of wires or transfer lines in the cable. Thefirst group of wires or lines includes fiber optic cables that can bepotentially coupled with a torpedo decoy. The second set of wires orlines can be decoupled or can potentially be modified to be coupled withat least one control section of a towed sled. The towed sled can includea power generation system, a control and communication system, and aradar or sonar detection system.

Referring to FIG. 17, another embodiment of the invention that caninclude a water borne autonomous renewable energy powered vessel 280with a multiple sensor and communication towed systems including a towedafloat radio frequency aerial object sensing and communication system290 as well as a towed underwater system (e.g., sonar system) 405collectively configured to communicate with a satellite communicationsystem. In particular, the exemplary water borne vehicle 280 can also beconfigured with a retraction system or winch 285 that can be used toreel in or out fiber optic cable 118 which serves as a tow and datacommunication/control system for towed system or sled 290. The fiberoptic cable 118 can be of varying length and is configured toselectively or removably attach to the towed system or sled 290. Thetowed system or sled 290 can include a control communication system 260,a power generation/management system 235, and a radar 245 and/or sonarsystem 240. The fiber optic cable 118 can include signal transfer linescomprising a first and second plurality of signal transfer lines in thecable, wherein the first plurality couple a first plurality and a secondplurality of communication nodes and said second plurality of signaltransfer lines couple to control sections of at least one controlsection with the towed system or sled 290. The radar detection system245 can use radars emissions 250 as described herein to detect objectsabove sea level whereas the sonar sensor system 240 can use sonar 265 todetect objects below the ocean surface. The towed system or sled 290 caninclude a renewable energy system e.g., solar panels 295, at appropriatelocations relative to the sun to maximize sun exposure. Such solarpanels 295 can be fixed in a flat position on the towed system or sled290 or be in a raised position with control sections (not shown) whichorient the solar panels 295 so they are substantially orthogonal to theSun. The solar panel system 295 can also be configured with a stormprotection system which lays elevated solar panels 295 flat against thesled with clamps or coupling sections that secure the solar panels 295in a storm configuration to reduce potential for storm damage.Additional storm protection structures can be provided including a coversection which either covers the solar panels 295 or enables the solarpanels 295 to be covered or protected against storm damage. An on boardbattery (not shown) stores power output from the solar panels 295. Apower management system can be configured to selectively power differentsystems based on different power savings conditions including remoteconfiguration transmitted remotely from, e.g., satellite system 290. Thetowed system or sled 290 can include an autonomous system 405 attachedto the water borne autonomous renewable energy powered vessel 280 via afiber optic cable 410. The autonomous system 405 can utilize a sonarsystem to detect underwater objects. For example, a ping from a flightdata recorder 401 could be detected by the towed underwater system 405that is dragged behind a ship. Underwater objects 400, including planewreckage, can also be detected using a side scanner sonars (not shown)mounted on, e.g., the towed underwater system 405. A sound wave 402emitted from a pinger 403 in an aircraft flight recorder box 401 can bedetected by towed underwater system 405 or the towed side scanner sonarsystem on the towed underwater system 405. The towed system or sled 290can also mount or include a video camera (not shown) with an ability toswivel to remote control or automated control track objects through athree hundred and sixty degree azimuth and one hundred and eightydegrees of elevation.

Referring to FIG. 18, an outside view of an alternative towed underwatersystem 405 is shown. The towed underwater system 405 can include a sidescanning sonar 475. The exemplary system can also include a fiber opticcable 410 to connect it to other bodies, including a towed system,floating towed buoy, sled, or a ship.

Referring to FIG. 19, some exemplary components of the water borneautonomous renewable energy powered vessel 280 are shown. Subsystemcomponents can include a solar power system 415, a processing section420, an actuation 425, communication system 430, internal bus 435, aninput/output system 450, a control system 455, a sensing system 460, apower system 465, and containment/mounting 470. The processing section420 can control systems below the water surface. The exemplary actuation425 can include the remote control sail winch and control systems andthe rudder. The exemplary communication system 430 can include atransmitter/receiver for remote communication, a wireless transmitterand ability to communicate with actuators, and other elements. The towedsystem or sled 290 can be pulled behind and attached to the water borneautonomous renewable energy powered vessel 280 via a fiber optic cable118.

Some implementations could also include a system such as shown inEP0498388 B1 the contents of which are incorporated by reference herein.

Various embodiments of an exemplary waterborne renewable energy vehicle280, e.g., an automated sailboat system can include a varietysubsystems. For example, some primary subsystems and associatedrequirements can be described in modular system architectures where eachsubsystem is. A first functional system can include a processing system.An exemplary processing subsystem can provide various controlcapabilities as well as providing required computations forplanning/execution of controlling various aspects of embodiments of theinvention. An exemplary processing system can require an onboard systemthat factors in power issues, size, and heat dissipation. Anothermodular system can include an actuation system. The system is designedto allow human interaction at any point, therefore, the use of R/Ccomponents are crucial. As above power consumption is a concern as wellas speed and accuracy. Actuators without holding torque requirement canbe used e.g. wormdrive. Another subsystem can include a communicationsystem. An exemplary communication can be configured to remain incommunication with a base or control station to transmit data andreceive corrections. Another modular system can include a controlsystem. An exemplary control system can be configured to be operated viamanual or automatic controls. If communications fail, an exemplarysystem can include a failsafe to return to a preprogrammed function andcourse. Another exemplary modular system can include a sensing system.Various Exemplary sensors can be used with appropriate algorithms aswell as various sensors such as, e.g., global positioning system (GPS),inertial navigation system (INS), salinity, temperature, etc. usable forvarious functionalities associated with different embodiments of theinvention. Another modular subsystem can include a power system. Forexample, an exemplary power system can include a fully integratedmulti-source power system provided to appropriately power all systems invarious embodiments. An exemplary multi-source power can be provided byvarious renewable energy source e.g. solar panels mounted on astructure, flexible solar sails 500, wave or water powered systems forexample. Another modular system can include a containment/mountingsystem. Such a containment or mounting system can be adapted to be watertight and able to withstand consistent water intrusion while remainingeasily accessible. A form factor of the exemplary water borne autonomousrenewable energy powered vessel, e.g., automated sailboat system, 280 islimited on space, therefore, causing a need for a small form computer.For example, A Rabbit Navigation Board version 3.0 (NavBoard3) can beused in many autonomous guided exemplary embodiments. In this example,the NavBoard3 can be configured with Dynamic C programming language tocontrol the Rabbit NavBoard3. The NavBoard3 can be configured withconnections for various sensors and communication options also leavingroom for further expansion beyond required functions.

Referring to FIG. 20, an exemplary external view an exemplary waterborne autonomous renewable energy powered vessel 280 with functionalsimplified towed surface system 290 and underwater towed system 405. Inparticular, an exemplary automated sailboat system is shown thatillustrates an exemplary robotic sailing system 280. The automatedsailboat system can be used to pull a towed system or sled 290. Thetowed system or sled 290 can then pull an autonomous system 405 viafiber optic cable 410. The towed system or sled 290 can be pulled by areinforced tow cable coupled with a fiber optic cable 118 attached tothe automated sailboat system 280 with attached floatation devices 96 tokeep the fiber optic cable 118 above water. A camera 507 with wide angleand zoom functions and a microphone 505 can be mounted on an externalsurface of the automated sailboat system 280 to assist with viewing andlistening to airborne or biological entities.

Referring to FIG. 21, an exemplary illustration of an exemplary patrolgrounds 550 is shown. Exemplary patrol ground pattern programming androuting can utilize trade winds and avoid doldrums to take advantage offurther renewable energy available to create a continuous power sourceto move the waterborne autonomous renewable energy powered vessel, e.g.,automated sailboat system 280. Additional embodiments can incorporatesystems such as shown in U.S. Pat. No. 8,291,757 B2, the contents ofwhich are contained herein, in order to use wind power for motive power.

Referring to FIG. 22, shows varying functions and ways of initiationthat the automated sailboat system can achieve e.g. sound, manually, orsystem initiations. These initiations will then trigger a presetroutine. FIG. 22 shows various high level functions or steps. Forexample, step 601 navigate sailboat along patrol pattern. At step 603,automated sailboat search system is initiated. Various exemplaryoperations or functions can be provided for. For example, soundinitiation can be provided to include sound initiation, manualinitiation (Step 609) which can initiate processing at Step 619 (FIG.25). At Step 611, an airplane airborne search system initiation then caninitiate Step 621 traffic collision avoidance system (TCAS) detection,tracking, and storing for later reporting processing. At Step 611 canalternatively initiate Step 629 which includes aircraft radartransponder detection and recording. Sound initiation can include Step613 activation via ping from a flight recorder which then initiates Step623 initiate flight recorder search (See FIG. 26). At Step 615 a crashsound detection initiates processing at FIG. 24. At Step 617, biologicaldetection initiates Step 625 biological tracking (see FIG. 23).

Referring to FIG. 22a , at Step 679 a fixed search system is initiated(see FIGS. 14/15). This figure shows varying functions and ways ofinitiation that the fixed system can achieve e.g. sound, manually, orsystem initiations. These initiations can then trigger various routines.For example, sound initiation can be provided to include soundinitiation (Steps 613, 615, or 617), manual initiation (Step 609), oraircraft airborne search system (Step 611). Step 609 manual operationcan initiate operator received distress call at processing at Step 619(FIG. 25). At Step 611, an airplane airborne search system initiationthen can initiate Step 621 traffic collision avoidance system (TCAS)detection, tracking, and storing for later reporting processing. At Step611 can alternatively initiate Step 629 which includes aircraft radartransponder detection and recording. Sound initiation can include Step613 activation via ping from a flight recorder which then initiates Step623 initiate flight recorder search (See FIG. 26). At Step 615 a crashsound detection by sonar and controls systems initiates processing atFIG. 24. At Step 617, biological detection by sonar and control systemsinitiates Step 625 biological tracking (see FIG. 23).

Referring to FIG. 23, at Step 625, a biological entity is detected byvarious elements of an embodiment of the invention e.g., sonar systemand control system. Detection can occur in various ways includingdetection of a sound pattern via sonar and control system with patternmatching systems such as whale sound patterns by the control system.Specific patterns can be used to identify specific biological entity ofinterest while others are ignored. Once the biological entity isdetected, at Step 755 the control system will determine if thebiological entity is within a predetermined distance; if yes, then atStep 753 the controls system will continue controlling navigationsystems to control the vehicle's course to maneuver the vehicle viatracking within the predetermined distance; if no, then at Step 757 thecontrol system would maneuver the vehicle to move closer to a point oforigin of the biological entity. Determinations of distance to the pointof origin of the biological entity can be determined based onmaintaining a baseline course then determining bearing to the biologicalentity from the vessel which can then be used as a basis fortriangulation by the sonar and controls systems to the point of originof the biological entity's sound. At Step 759, if a ship is detectedthen the ship is notified via various possible options such as havingthe control system activating a radar transponder to warn the ship ofthe presence of the biological entity in order to warn away the shipfrom the presence of the biological entity. An alternate embodiment caninclude a control system to notify the ship of the biological entity atStep 761 via a satellite communication or radio frequency communicationsystem. At Step 763, a determination is made by a control section of anexemplary embodiment to continue or not, where if a determination ismade to continue then processing returns to Step 625. If no, thenprocessing continues at Step 765 which returns the vessel maneuvering toa predetermined patrol pattern (e.g., FIG. 29). If no biological entityis detected by the control and sonar system at Step 625, then processingcontinues at Step 765.

Referring to FIG. 24, at Step 615 a crash sound detection is detected bythe sonar and control system. At Step 817, a control system andcommunication system will send a notification to an operator, e.g., airtraffic control, or crash response organization. The detection can occurfrom a distinct sound pattern by the sonar and control system. Next, atStep 821, crash sound bearings are or are not determined where if thecrash sound bearings (multiple bearings) are determined by using, e.g.,a directional sonar array system to determine multiple bearingdetections used to triangulate on a location or point of origin of thecrash sound then processing continues at Step 819; else, where if nobearings and location are determined then processing is returned to apatrol patter (e.g., FIG. 22 as shown in, e.g., FIG. 29). At step 819,then the onboard control system, navigation system, and other onboardsystems maneuver the vessel towards the sound location. At Step 825,then a determination is made to determine if the vessel is within apredetermined (X) distance, e.g., meters of the previously determinedlocation. If not within the predetermined distance, then the controlsystem uses predetermined control instructions to determine if thevessel continues the crash sound detection process and maneuvering. If adetermination is made by the control system to continue, then processingreturns to Step 819; else a no determination is made at Step 829 andcontinues at Step 605 which causes the controls system to maneuver thevessel back to the patrol pattern (e.g., see FIG. 29; FIG. 22).Maneuvering can be achieved through a series of sensors and actuators asdiscussed in FIG. 20. When Step 827 is executed after Step 825'sdetermination that the crash sound is within a certain location, then anoperator or crash notification entity will be notified or updated with alocation (and status of search) followed by processing which continuesat FIG. 26 as Step 623 initiate flight recorder search is initiated. Ifthere on onboard system of the vessel 280 detects a ship in apredetermined proximity to the vessel, then the ship can also be througha communications system using, e.g. short range radio or can stay inconstant or intermittent communication with the operator or ship via asatellite signal. Once the operator or rescue ships can beginrescue/salvage missions, the autonomous renewable energy powered vessel,e.g., the automated sailboat system, can return to its normal patrolgrounds via a command to the vessel's control system from the operatoror another entity.

Referring to FIG. 24a shows an exemplary process for controlling sonar,control, and maneuvering systems to determine a point of origin of thecrash sound. At Step 623, a first crash sound and bearing is detected.At Step 885 an operator is notified when detection of the first crashsound is detected and bearing detected. At Step 887, control and sonarsystems will initiate triangulation of point of origin of the firstcrash sound. At Step 889, a second crash sound is detected by the sonarand control system. At Step 891, the control and sonar system thencalculate and notify an operator of point origin of the crash sounds. AtStep 613/623, the control system initiate flight recorder search withina predetermined distance from the determined point of origin (see FIG.26).

Referring to FIG. 25, shows exemplary process for controlling thevessel, sonar, control, and other systems in response to a receiveddistress signal. At Step 619, a controls system receives the distresscall. At Step 945, the control system uses the communication system tonotify an operator, e.g., an air traffic controller, etc. At Step 949,the operator sends coordinates are not received, then at Step 951 thecontrol system returns the vessel to its patrol pattern. At Step 947, ifcoordinates are received, then the control system configures the vesselfor navigation and maneuvering towards the provided coordinates. At Step953, then the control system makes a determination if the vessel'slocation is within a predetermined distance from the coordinates using,e.g., the GPS system, INS, etc; if yes, then at Step 955 then thecontrol system initiates the flight recorder search at FIG. 26 andnotifies an operator (e.g., air traffic control or search coordinationcenter), of the vessel being within the predetermined coordinates. Ifthe coordinates are not within the predetermined distance of the vessel,then the control system then makes a determination to continuenavigating the vessel towards the coordinates at Step 947 or to returnto the search pattern at Step 951. If a ship in radio is detected withina predetermined distance (e.g., search distance), the control system canoperate components on in the system (e.g., communication system) tonotify the ship through, e.g. short range radio or can stay in constantcommunication via a satellite signal. Once the ship beginsrescue/salvage missions, the automated sailboat system can return to itsnormal patrol grounds via Step 951 and control system instructions tomaneuver the vessel back to the search pattern.

Referring to FIG. 26, at Step 613/623, the control system initiatesflight recorder ping detection and initiation of flight recorder searchinstructions or control operations. Next, at Step 1013, the controlsystem notifies the operator of detection of the flight recorder ping bythe system sonar system. Next at Step 1011, a series of detections ofthe flight recorder pings are initiated along a base line course usingthe directional sonar array and control system. At Step 1015, if theping from the flight recorder is triangulated, then at Step 1017 thecontrol system maneuvers the vessel closer to a point of origindetermined from the triangulation processing. At Step 1019, the controlsystem (or manual inputs from, e.g., the operator via communicationsystem) determines to continue flight recorder searching operations ornot; if not, then the control system executes instructions to maneuverthe vessel and return to the old or new patrol pattern. If Step 1019determines continuation of the flight recorder ping detection and flightrecorder search is to continue, then processing returns illustrates thefunction carried out when the automated sailboat system detects a flightrecorder “black box” ping. The detection can occur numerous ways fromdistinct radar signature to sound pattern. Once the ping is detected theautomated sailboat system will notify an operator (land or sea basedautomated sailboat observer) and move to within a set number of metersfrom the wreckage. This can be achieved through a series of sensors andactuators as discussed in FIG. 20. If there is a ship detected theautomated sailboat system can notify the ship through numerouscommunications means e.g. short range radio or can stay in constantcommunication via a satellite signal. Once the ship beginsrescue/salvage missions the automated sailboat system can return to itsnormal patrol grounds.

Referring to FIG. 27, illustrates an exemplary sonar system 333 and thevarious sensors. The sonar system 333 can be designed to utilize a fiberoptic data cable 350 and a control cable 353 to couple with a floatingbuoy such as described herein. A directional sonar receiver/transmitterarray 354 is provided in the sonar system 333 for use in trackingunderwater entities such as aircraft crashes or biologic entities. Thesonar system 333 can be designed to maintain a slightly negativebuoyancy while moving up and down through the layers via a reel orcontrol cable winch. The sonar system 333 can be designed with anaperture 355 that a system communication and sonar system guide cable350 that enables the sonar system 333 to move up and down the guidecable 350. The sonar system 333 can be configured to rollers or otherstructures (not shown) that would avoid damage to the guide cable 350 asit moves up and down. The exemplary sensor system 333 can use atemperature 351 and salinity sensor 352 to determine what layer thesonar system 333 is in that provides best sonar performance to detectunderwater entities such as biologic entities, crash sounds, or aircraftflight recorder sonar pinger systems. The sonar system can be designedwith an aperture 355 that is adapted to permit the sonar system 333 tomove up and down will use a sonar sensor/microphone to listen for asonar signature e.g. whale.

Referring to FIG. 28, illustrates sea (temperature/salinity) levels 600,603, 605 a simplified sonar system 333 (See FIG. 27) will have tonavigate through. The sonar system 333 can utilize a fiber optic datacable 350 and a control cable 353. Different boundaries 200, 607, 609define boundaries of different layers 600, 603, 605 which can affectsonar performance.

FIG. 29 shows an exemplary sailing path of the vessel 503 with automatedmaneuvers with wind direction. A patrol area is defined by a path route550 which the automated sailboat 503 moves via a tacking courseconfigured to stay within a predetermined distance from the path route550.

Although the invention has been described in detail with reference tocertain preferred embodiments, variations and modifications exist withinthe spirit and scope of the invention as described and defined in thefollowing claims.

The invention claimed is:
 1. A towed attraction/emulation/responsealteration (AERA) system comprising: a control center comprising aninput and output interface system; a winch system coupled to the inputand output interface system; a first tow cable coupled to the winchsystem that comprises a fiber optic cable, said first tow cable furthercomprises a plurality of flotation or support sections spaced apartadapted to support the first tow cable; a first towed AERA body coupledto said first tow cable configured to receive control signals and powerthrough said first tow cable, said first towed AERA body comprises atleast a first emitter operable to emit a first plurality of signals,wherein said first towed AERA body comprises a support section operableto support said first towed AERA body above or within a fluid, whereinsaid first towed AERA body comprises a second control system that is incommunication with said first control system, said second control systemis operable to control said first emitter based on inputs from saidfirst controls system or based on predetermined instructions; a secondtow cable comprising second fiber optic cable extending from said firsttowed AERA body, said second two cable is coupled to said second controlsystem; a second towed AERA body comprising a second emitter that isoperable to either be towed above or on said fluid or underneath saidfluid and is configured to receive control signals and power from saidsecond control system; and a signal cutout switch, wherein said inputand output interface and said winch system are connected to a signalcutout switch; wherein said local input and output interface and saidwinch system are connected to a multiplexer.
 2. A towed AERA system asset forth in claim 1, wherein said input and output interface isconfigured to communicate through said first tow cable to said firsttowed AERA body.
 3. A towed AERA system as set forth in claim 1, whereinsaid plurality of buoys are adapted with a shape to reduce drag frompassage of said buoys through a fluid medium that supports said buoys.4. A towed AERA system as set forth in claim 1, wherein an anti-threatbody configured with a third emitter and is coupled to said first towedAERA body.
 5. A towed AERA system as set forth in claim 1, wherein saidfirst control center comprises a remote control system that selectivelycontrols one or more elements of said AERA body via remote control,wherein said remote control comprises a separate radio frequency orlaser communication system that communicates control signals with saidfirst AERA system.
 6. A search system comprising: an automated vesseland onboard systems comprising a propulsion system, a first searchsystem, a first controller, a maneuvering system, a navigation system, afirst power system, a first towed system interface system, and a firstcommunication system; a first towed system comprising a second searchsystem and a second communication system; a second towed system coupledto said first towed system, said second towed system configured to betowed underwater, said second towed system comprising a controls system,a third system interface section configured to transmit and receive dataor signals to said first towed system, and a sonar system configured todirectionally detect a plurality of sound patterns, said plurality ofsound patterns are stored on a non-transitory data storage medium andconfigured to be read and used to match sounds detected by said sonarsystem with one or more of said plurality of sound patterns, saidplurality of sound patterns comprising a sonar ping produced from asonar pinger system coupled to an aircraft flight recorder, at least oneaircraft water crash sound pattern, and a plurality of biologic soundpatterns comprising one or more whale sounds; wherein the power systemcomprises a power storage system and a solar power system configured toprovide power to the automated vessel; wherein the search systemcomprises a first traffic collision avoidance system (TCAS) configuredto detect TCAS signals from aircraft configured with an aircraft TCAS;wherein the communication system comprises a radio frequencytransceiver, a radio frequency radar transponder configured to transmiton naval navigation band frequencies to show a radar return and data onanother vessel's navigation radar system; wherein the controller isconfigured to control components and systems on the automated vessel andsearch system comprising the search system, the controller, themaneuvering system, the navigation system, the power system, and thecommunication system; wherein the navigation system comprises anavigation management system configured to control the vehicle's course,a global positioning system and an inertial measuring unit including aconnected to the controller; wherein the maneuvering system comprising arudder and a rudder actuating system controlled by the controller, asail control system configured to adjust the a first and second sail onthe automated sailboat comprising a plurality of sail positioningactuator or control elements and a plurality of coupling sectionsrespectively coupling the first and second sails to each of theplurality of sail positioning actuator or control elements.